Abstract
The motion of a rigid body at any instant is determined by the six components of two vectors, the angular velocity ω and the velocity u of a chosen point O of the body. There are therefore six degrees of freedom and we should be able to describe the evolution by introducing six generalized coordinates: three for position and three for orientation.
The position coordinates are straightforward because we can use the three Cartesian coordinates of O in some inertial frame. The components of u are then the corresponding generalized velocities. As we saw in Section 1.9, it is a more complicated problem to find convenient coordinates to describe the rotational degrees of freedom. It is, in fact, impossible to find three generalized coordinates for which the three components of ω are the corresponding generalized velocities. Whatever angular coordinates are used, the task of expressing ω in terms of their time derivatives is always a source of complication.
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© 2009 Springer-Verlag London
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Woodhouse, N.M.J. (2009). Rigid Bodies. In: Introduction to Analytical Dynamics. Springer Undergraduate Mathematics Series. Springer, London. https://doi.org/10.1007/978-1-84882-816-2_5
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DOI: https://doi.org/10.1007/978-1-84882-816-2_5
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Publisher Name: Springer, London
Print ISBN: 978-1-84882-815-5
Online ISBN: 978-1-84882-816-2
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